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<div class="title">lidar_data_process.cpp</div>  </div>
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<a href="lidar__data__process_8cpp.html">浏览该文件的文档.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#include &quot;sensor/lidar_data_process.h&quot;</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;</div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;</div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">/*</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">    雷达数据处理线程</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"></span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*/</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keywordtype">void</span> LIDAR_DATA_PROCESS::Create_Thread(){</div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;</div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;    std::stringstream ss;ss&lt;&lt;std::this_thread::get_id();</div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="comment">// rout(&quot;point_process_thread started .Thead id: %s&quot;,ss.str().c_str());</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;        <span class="comment">// rout(&quot;new Data %d&quot;,_unity-&gt;new_cloud_avaliable_);</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    copter_local_pos_att_t att_pos_copy_copy = att_pos_copy;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;new_cloud_avaliable_=<span class="keyword">false</span>;</div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keywordflow">if</span>(cloud.empty()&amp;&amp;edgecloud.empty())<span class="keywordflow">return</span> ;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;    PTC d;</div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;    pcl::VoxelGrid&lt;PT&gt; sor;</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    sor.setInputCloud(cloud.makeShared());</div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;    sor.setLeafSize(0.40f, 0.40f, 0.40f);</div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    sor.filter(d);</div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;    PTC e;</div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    sor.setInputCloud(edgecloud.makeShared());</div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;    sor.setLeafSize(1.5f, 1.5f, 1.5f);</div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    sor.filter(e);</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    _grid_map-&gt;update_from_cloud(d,e,&amp;att_pos_copy_copy);</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;new_map_avaliable=<span class="keyword">true</span>;</div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;}</div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;</div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="keywordtype">void</span> LIDAR_DATA_PROCESS::lidarCloudHandler(<span class="keyword">const</span> sensor_msgs::PointCloudConstPtr &amp;input){</div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;    <span class="keywordflow">if</span>(!<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;first_data_get) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;</div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    sensor_msgs::PointCloud2 input_;</div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;    sensor_msgs::convertPointCloudToPointCloud2(*input,input_);</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    PTC cloud_TMP,cloud_TMP2_FILTER;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;    pcl::fromROSMsg(input_,cloud_TMP);</div><div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;    cloud.clear();</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    edgecloud.clear();</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="keywordflow">if</span>(_mavlink!=<span class="keyword">nullptr</span>){</div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;        <span class="keywordflow">if</span>(abs(_mavlink-&gt;get_pose().roll)&gt;0.8||abs(_mavlink-&gt;get_pose().pitch)&gt;0.8)</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;            <span class="keywordflow">return</span>;</div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    }</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    att_pos_copy = _mavlink-&gt;get_pose();</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="keywordflow">if</span>(<a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;new_cloud_avaliable_== <span class="keyword">true</span>) <span class="keywordflow">return</span>;</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i =0;i&lt;cloud_TMP.size();i++){</div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;        <span class="keywordtype">double</span> dist =pow(cloud_TMP.points[i].x,2)+pow(cloud_TMP.points[i].y,2);</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;        <span class="keywordflow">if</span>(dist&lt;pow(40,2)&amp;&amp;dist&gt;pow(0.3,2)){</div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;            <span class="comment">// double t =cloud_TMP[i].y;</span></div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;            <span class="comment">// cloud_TMP[i].y=cloud_TMP[i].x;</span></div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;            <span class="comment">// cloud_TMP[i].x=-t;</span></div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;            cloud.push_back(cloud_TMP.points[i]);<span class="comment">//cloud_TMP2_FILTER</span></div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        }</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keywordflow">else</span>{</div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;            <span class="comment">// double t =cloud_TMP[i].y;</span></div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;            <span class="comment">// cloud_TMP[i].y=cloud_TMP[i].x;</span></div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;            <span class="comment">// cloud_TMP[i].x=-t;</span></div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;            edgecloud.push_back(cloud_TMP.points[i]);</div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;        }</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    }</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <a class="code" href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a>-&gt;new_cloud_avaliable_=<span class="keyword">true</span>;</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    std::thread _point_process_thread(&amp;LIDAR_DATA_PROCESS::Create_Thread,<span class="keyword">this</span>);</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    _point_process_thread.join();</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;</div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;}</div><div class="ttc" id="flow__attacher_8cpp_html_ab0db892883304e1f5de7a967b5656f11"><div class="ttname"><a href="flow__attacher_8cpp.html#ab0db892883304e1f5de7a967b5656f11">_unity</a></div><div class="ttdeci">UNIVERSAL_STATE * _unity</div><div class="ttdef"><b>Definition:</b> <a href="flow__attacher_8cpp_source.html#l00004">flow_attacher.cpp:4</a></div></div>
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